HIGHLEVEL = 0xee
LOWLEVEL  = 0xff

FR_ = 0       # leg index
FL_ = 1
RR_ = 2
RL_ = 3

FR_0 = 0      # joint index
FR_1 = 1      
FR_2 = 2

FL_0 = 3
FL_1 = 4
FL_2 = 5

RR_0 = 6
RR_1 = 7
RR_2 = 8

RL_0 = 9
RL_1 = 10
RL_2 = 11

calibration_forwardspeed = 0.0
calibration_sidespeed = 0.0
calibration_rotatespeed = 0.0